show_kitti_3d_v3.py

from utils.visualizer import *
from utils.structures import *
from utils.data_loader import *
import glob

# file_name = '007420'
# data_source = 'velodyne'
# bin_path = '../fusion/data/{}/{}.bin'.format(data_source, file_name)
# txt_path = 'data/label_2/%s.txt' %file_name
# calib_path = 'data/calib/%s.txt' %file_name
# out_dir = '../fusion/data/mesh/%s/' %data_source


def main():
    bin_path = input('Input velodyne bin file path:')
    binlist = glob.glob(bin_path+'/*')
    out_dir = input('Output velodyne bin file path:')

    for rec in binlist:
        file_name = rec.split('/')[-1].split('.')[0]
        points=read_bin_velodyne(rec)
        points[..., 0] *= -1

        # gt_bboxes = read_txt_label(txt_path, calib_path)['gt_bboxes_3d'].tensor
        # gt_bboxes = Box3DMode.convert(gt_bboxes, Box3DMode.LIDAR, Box3DMode.DEPTH)
        # gt_bboxes[..., 2] += gt_bboxes[..., 5] / 2

        show_result(points, None, None, out_dir, file_name)
        # show_result(points, gt_bboxes, None, out_dir, file_name)
        # print('Done with {} {}'.format(data_source, file_name))


if __name__=="__main__":
    main()